U.S. patent number 8,493,189 [Application Number 12/521,254] was granted by the patent office on 2013-07-23 for haptic feedback controller.
This patent grant is currently assigned to Fukoku Co., Ltd., Pro-Tech Design Corporation. The grantee listed for this patent is Takahiko Suzuki. Invention is credited to Takahiko Suzuki.
United States Patent |
8,493,189 |
Suzuki |
July 23, 2013 |
Haptic feedback controller
Abstract
A haptic feedback controller of the present invention includes:
a pointing position detecting sensor which is arranged along a
fingertip pointing path and detects a pointing position of a
fingertip when a pointing operation is performed along the
fingertip pointing path; a haptic feedback imparting device which
has a piezoelectric element arranged along the fingertip pointing
path and generates vibrations depending on a high frequency voltage
when the voltage is applied thereto and an elastic body which is
fixed to the piezoelectric element, and imparts predetermined
haptic feedback to the fingertip due to vibrations generated by the
piezoelectric element; and a piezoelectric element control device
which controls the piezoelectric element based on feedback
information outputted from controlled equipment. According to the
present invention, it is possible to provide a haptic feedback
controller which is suitable for controlling controlled equipment
in response to a pointing operation performed by a user with
his/her fingertip and, at the same time, is suitable for equipment
such as portable equipment deemed necessary to satisfy demand for
reduction of thickness and miniaturization.
Inventors: |
Suzuki; Takahiko (Nagano,
JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
Suzuki; Takahiko |
Nagano |
N/A |
JP |
|
|
Assignee: |
Fukoku Co., Ltd. (Saitama
Pref., JP)
Pro-Tech Design Corporation (Nagano, JP)
|
Family
ID: |
39562543 |
Appl.
No.: |
12/521,254 |
Filed: |
December 25, 2007 |
PCT
Filed: |
December 25, 2007 |
PCT No.: |
PCT/JP2007/074879 |
371(c)(1),(2),(4) Date: |
June 25, 2009 |
PCT
Pub. No.: |
WO2008/078753 |
PCT
Pub. Date: |
July 03, 2008 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20100097198 A1 |
Apr 22, 2010 |
|
Foreign Application Priority Data
|
|
|
|
|
Dec 25, 2006 [JP] |
|
|
2006-348701 |
|
Current U.S.
Class: |
340/407.2;
345/173; 345/156; 715/702; 715/701 |
Current CPC
Class: |
G06F
3/0416 (20130101); G06F 3/016 (20130101) |
Current International
Class: |
G08B
6/00 (20060101) |
Field of
Search: |
;340/407.2,825.9
;345/156,173,174 ;715/702,701 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
|
|
|
|
|
|
|
11-146674 |
|
May 1999 |
|
JP |
|
11-195353 |
|
Jul 1999 |
|
JP |
|
3085481 |
|
Feb 2002 |
|
JP |
|
2006/051581 |
|
May 2006 |
|
WO |
|
Other References
M Biet et al., "New Tactile Devices Using Piezoelectric Actuators,"
p. 989-p. 992 of Actuator 2006, 10th International Conference on
New Actuators, Jun. 14-16, 2006, Bremen, Germany. cited by
applicant .
International Search Report of Application No. PCT/JP2007/074879
mailed Jan. 22, 2008. cited by applicant.
|
Primary Examiner: Phan; Hai
Assistant Examiner: Fan; Hongmin
Attorney, Agent or Firm: Lowe Hauptman Ham & Berner,
LLP
Claims
The invention claimed is:
1. A haptic feedback controller for controlling controlled
equipment in response to a pointing operation performed by a user's
finger along a predetermined pointing path, and for imparting
haptic feedback corresponding to the pointing operation to the
finger, the haptic feedback controller comprising: a pointing
position detecting sensor which is arranged along the predetermined
pointing path and is configured to detect a pointing position of
the finger when the pointing operation is performed; a haptic
feedback imparting device including an elastic body arranged along
the predetermined pointing path and a piezoelectric element fixed
to the elastic body for generating a vibration corresponding to a
high frequency voltage when the high frequency voltage is applied
to the piezoelectric element, and the haptic feedback imparting
device configured to impart the haptic feedback to the finger
through the vibration generated by the piezoelectric element by the
intermediary of the elastic body; and a piezoelectric element
control device which is configured to control the piezoelectric
element based on feedback information outputted from the controlled
equipment.
2. A haptic feedback controller according to claim 1, wherein the
pointing position detecting sensor is an electrostatic capacitance
sensor which is fixedly mounted on the elastic body, and is
configured to detect the pointing position of the finger when the
pointing operation is performed with the finger in contact with the
pointing position detecting sensor.
3. A haptic feedback controller according to claim 1, wherein the
pointing position detecting sensor is a pressure sensitive sensor
which is fixedly mounted on the elastic body, and is configured to
detect the pointing position of the finger when the pointing
operation is performed with the finger in contact with the pointing
position detecting sensor.
4. A haptic feedback controller according to claim 1, wherein the
pointing position detecting sensor is a photo sensor which is
configured to optically detect the finger when the pointing
operation is performed.
5. A haptic feedback controller according to claim 1, wherein the
haptic feedback controller further includes an input/output device
for outputting pointing position information based on the pointing
position detected by the pointing position detecting sensor and
receiving the feedback information outputted from the controlled
equipment.
6. A haptic feedback controller according to claim 1, wherein the
predetermined pointing path is annular, and the piezoelectric
element and the elastic body have an annular shape corresponding to
the predetermined pointing path.
7. A haptic feedback controller according to claim 1, wherein the
predetermined pointing path is linear, and the piezoelectric
element and the elastic body are linear corresponding to the
predetermined pointing path.
8. A haptic feedback controller according to claim 1, wherein the
predetermined pointing path is arranged on an upper end surface of
the elastic body, and the pointing position detecting sensor is
fixed to the upper end surface of the elastic body.
9. A haptic feedback controller according to claim 1, wherein the
predetermined pointing path is arranged on a side surface of the
elastic body, and the pointing position detecting sensor is fixed
to the side surface of the elastic body.
10. A haptic feedback controller according to claim 1, further
comprising a pressure sensitive sensor configured to detect a
pressure applied to the pressure sensitive sensor for performing
the pointing operation at a predetermined position on the
predetermined pointing path and to output a signal corresponding to
the detected pressure.
11. A haptic feedback controller according to claim 6, wherein the
piezoelectric element and the elastic body having the annular shape
form a space inside the haptic feedback imparting device, and the
piezoelectric element control device is disposed in the space.
12. A haptic feedback controller according to claim 1, wherein the
piezoelectric element is arranged along the predetermined pointing
path.
13. A haptic feedback controller according to claim 1, wherein the
pointing position detecting sensor is fixedly mounted on a surface
of the elastic body, and the haptic feedback imparting device is
configured to impart the haptic feedback to the finger via the
vibration generated by the piezoelectric element through the
elastic body and the pointing position detecting sensor.
14. A haptic feedback controller according to claim 13, further
comprising: a surface member configured to cover a surface of the
pointing position detecting sensor.
15. A haptic feedback controller according to claim 1, wherein the
haptic feedback includes at least one selected from the group
consisting of: haptic feedback for guiding the finger in a
predetermined direction along the predetermined pointing path,
haptic feedback for imparting a feeling of resistance to movement
of the finger in the predetermined direction along the
predetermined pointing path, and haptic feedback for informing the
user that the finger points at a predetermined position on the
predetermined pointing path.
16. A haptic feedback controller according to claim 1, wherein the
haptic feedback includes at least one selected from the group
consisting of: haptic feedback for guiding the finger in a
predetermined direction along the predetermined pointing path, and
haptic feedback for imparting a feeling of resistance to movement
of the finger in the predetermined direction along the
predetermined pointing path.
Description
RELATED APPLICATIONS
The present application is based on International Application
Number PCT/JP2007/074879, filed Dec. 25, 2007 and claims priority
from, Japanese Application Number 2006-348701, filed Dec. 25, 2006,
the disclosures of which are hereby incorporated by reference
herein in their entirety.
TECHNICAL FIELD
The present invention relates to a haptic feedback controller.
BACKGROUND ART
FIG. 9 is a constitutional view showing one example of a
conventional haptic feedback controller (see patent document 1, for
example). FIG. 9A is a perspective view showing appearance of the
haptic feedback controller 500, and FIG. 9B is an exploded
perspective view of the haptic feedback controller 500. Further,
FIG. 10 is a block diagram for explaining functions of the
conventional haptic feedback controller 500.
The haptic feedback controller 500 includes, as shown in FIG. 9, a
base 510, a cap 520 and a piezoelectric motor 530.
The base 510 has a ring shape, and the cap 520 has a ring shape in
the same manner as the base 510 and is mounted on the base 510 in a
rotatable manner relative to the base 510.
The piezoelectric motor 530 is, as shown in FIG. 9B, arranged
between the base 510 and the cap 520. The piezoelectric motor 530
includes a ring-shaped stator 540 and a ring-shaped rotor 550.
The haptic feedback controller 500 having such constitutional
elements further includes, as shown in FIG. 10, a rotation control
device 610 which controls a rotational state of the piezoelectric
motor 530, a rotational state detection device 620 which detects a
rotational state of a cap 520 relative to the base 510, an
input/output device 630 which has a function of outputting
rotational state information based on a detection result of the
rotational state detection device 620 to, for example, a personal
computer (hereinafter referred to as PC) 700 which constitutes
controlled equipment and a function of receiving feedback
information for controlling a piezoelectric motor outputted from
the PC 700, and a control part 640 which performs a control of the
rotational control device 610, the rotational state detection
device 620 and the input/output device 630.
The haptic feedback controller 500 can be used in the following
manner.
A user, first of all, rotates the cap 520. Then, the rotational
state detection device 620 detects a rotational state of the cap
520 relative to the base 510, and outputs a detection result to the
control part 640. The control part 640 outputs rotational state
information based on the detection result of the rotational state
detection device 620 to the PC 700 via the input/output device 630
so that the PC 700 performs a necessary control.
Here, the PC 700 outputs, based on the rotational state information
and a state of an application operated in the PC, feedback
information used for controlling a rotational state of the
piezoelectric motor 530 to the haptic feedback controller 500. The
input/output device 630 receives inputting of feedback information
from the PC 700 and, at the same time, outputs the feedback
information to the control part 640. The control part 640 outputs
the feedback information to the rotation control device 610 thus
performing a rotational control of the piezoelectric motor 530.
In such a haptic feedback controller 500 having such a
constitution, when a user operates the cap 520, haptic feedback is
imparted to the piezoelectric motor 530 and, eventually, to the cap
520 in response to such an operation.
Further, the piezoelectric motor 530 which the haptic feedback
controller 500 includes exhibits excellent response characteristic,
can change over the rotational direction at a high speed, and
exhibits high resolution in operation along the rotational
direction. Accordingly, the user can easily acquire
simple-to-control and gentle haptic feedback and hence, the user
can operate the cap 520 smartly or skillfully thus allowing the
haptic feedback controller 500 to possess versatile expressive
powers on haptic feedback. Patent document 1: International
Publication WO2006/051581.
DISCLOSURE OF THE INVENTION
Problems that the Invention is to Solve
As described above, the technique disclosed in patent document 1
possesses various advantages as the haptic feedback controller.
However, there may be cases where further improvements of the
technique become necessary depending on intended uses.
That is, the conventional haptic feedback controller 500 is
configured such that controlled equipment is controlled when a user
operates the cap 520 by gripping and rotating the cap 520 with
his/her hand. Accordingly, for example, such a haptic feedback
controller 500 may not be suitable for an application where a user
controls equipment while feeling fine or delicate haptic feedback
with his/her fingertip. Further, when the haptic feedback
controller 500 is used in a mode where the haptic feedback
controller 500 is incorporated into the controlled equipment, the
cap 520 projects from an operation surface of the equipment.
Accordingly, the presence of the cap 520 becomes an obstacle in
equipment such as portable equipment deemed necessary to satisfy
demand for reduction of thickness and miniaturization.
The present invention has been made to overcome the above-mentioned
drawbacks, and it is an object of the present invention to provide
a haptic feedback controller which is suitable for controlling
controlled equipment in response to a pointing operation performed
by a user with his/her fingertip and, at the same time, is suitable
for equipment such as portable equipment deemed necessary to
satisfy demand for reduction of thickness and miniaturization.
Means for Solving the Problems
(1) The present invention is directed to a haptic feedback
controller capable of controlling controlled equipment in response
to a pointing operation which a user performs with his/her
fingertip along a predetermined fingertip pointing path, and
capable of imparting haptic feedback corresponding to the pointing
operation to the fingertip, wherein the haptic feedback controller
includes: a pointing position detecting sensor which is arranged
along the fingertip pointing path and is configured to detect a
pointing position of the fingertip when the pointing operation is
performed; a haptic feedback imparting device which is arranged
along the fingertip pointing path, includes the piezoelectric
element which generates vibrations corresponding to a high
frequency voltage when the high frequency voltage is applied to the
piezoelectric element and an elastic body which is fixed to the
piezoelectric element, and is configured to impart predetermined
haptic feedback to the fingertip due to the vibrations generated by
the piezoelectric element; and a piezoelectric element control
device which is configured to control the piezoelectric element
based on feedback information outputted from the controlled
equipment.
The haptic feedback controller of the present invention can be
preferably used as a controller which controls controlled equipment
in response to a pointing operation of a user with his/her
fingertip. Further, different from a haptic feedback controller
which a user operates by gripping a cap with his/her hand, the
haptic feedback controller of the present invention has no
projecting portions and hence, it is possible to make an operation
surface on which the haptic feedback controller is mounted flat.
Accordingly, it is possible to provide a haptic feedback controller
which is suitable for portable equipment deemed necessary to
satisfy demand for reduction of thickness and miniaturization.
Further, the haptic feedback controller of the present invention is
of a type which imparts haptic feedback to the fingertip using the
principle of piezoelectric motor and hence, the present invention
can provide the haptic feedback controller which makes use of
advantageous features of the piezoelectric motor such as excellent
response characteristics, and high movement resolution along the
fingertip pointing direction.
(2) In the haptic feedback controller having the constitution (1),
the pointing position detecting sensor may preferably be an
electrostatic capacitance sensor which is fixedly mounted on the
elastic body, and is configured to detect the pointing position of
the fingertip when the pointing operation is performed in a state
that the fingertip is in contact with the pointing position
detecting sensor.
With the use of the electrostatic capacitance sensor as the
pointing position detecting sensor, the position of the fingertip
which performs the pointing operation on the fingertip pointing
path can be properly detected. Further, the electrostatic
capacitance sensor can be formed into a thin plate shape and hence,
a total thickness of the haptic feedback controller can be
decreased whereby it is possible to provide the haptic feedback
controller suitable for portable equipment deemed necessary to
satisfy demand for reduction of thickness and miniaturization.
(3) In the haptic feedback controller having the constitution (1),
the pointing position detecting sensor may preferably be a pressure
sensitive sensor which is fixedly mounted on the elastic body, and
is configured to detect the pointing position of the fingertip when
the pointing operation is performed in a state that the fingertip
is in contact with the pointing position detecting sensor.
In this manner, it is possible to use the pressure sensitive sensor
as the pointing position detecting sensor. With the use of the
pressure sensitive sensor as the pointing position detecting
sensor, the position of the fingertip which performs the pointing
operation on the fingertip pointing path can be properly detected.
Further, the pressure sensitive sensor can be formed into the shape
of a thin plate in the same manner as the electrostatic capacitance
sensor and hence, a total thickness of the haptic feedback
controller can be decreased whereby it is possible to provide the
haptic feedback controller which is suitable for portable equipment
deemed necessary to satisfy demand for reduction of thickness and
miniaturization.
(4) In the haptic feedback controller having the constitution (1),
the pointing position detecting sensor may preferably be a photo
sensor which is configured to optically detect the fingertip when
the pointing operation is performed.
Also with the use of such a photo sensor, the position of the
fingertip can be properly detected.
(5) In the haptic feedback controller having any one of the
constitutions (1) to (4), the haptic feedback controller may
preferably further include an input/output device which has a
function of outputting pointing position information based on the
pointing position detected by the pointing position detecting
sensor to the controlled equipment and a function of receiving the
feedback information outputted from the controlled equipment.
As a matter of course, the haptic feedback controller of the
present invention is incorporated into controlled equipment or into
other controller for controlling the controlled equipment at a time
of manufacturing or shipping the controlled equipment. On the other
hand, since the haptic feedback controller of the present invention
has such an input/output device, the haptic feedback controller may
be provided as a part separate from the controlled equipment or the
other controller for controlling the controlled equipment, and is
connected to the controlled equipment for controlling the
controlled equipment when necessary.
(6) In the haptic feedback controller having any one of the
constitutions (1) to (5), the haptic feedback which the haptic
feedback imparting device imparts to the fingertip may preferably
include at least one haptic feedback selected from a group
consisting of haptic feedback which guides the fingertip in the
predetermined direction along the fingertip pointing path, haptic
feedback which imparts feeling of resistance to movement of the
fingertip when the fingertip is moved in the predetermined
direction along the fingertip pointing path, and haptic feedback
which informs the user of a fact that the fingertip points a
predetermined position on the fingertip pointing path by way of
his/her fingertip.
Such haptic feedback also assists an operation of the controller by
a user and hence, the user can surely and smoothly perform a
control of the controlled equipment.
For example, since the haptic feedback which guides the fingertip
in the predetermined direction along the fingertip pointing path is
imparted to the fingertip, when the user puts his/her fingertip on
the haptic feedback controller, the fingertip is naturally guided
in the predetermined direction so that the user can easily operate
the haptic feedback controller. Further, since the haptic feedback
which gives feeling of resistance to the movement of the fingertip
is imparted to the fingertip, the user can perceive a tactile
stimuli (sense of touch) which makes the further pointing operation
of the fingertip difficult and hence, the user acquires an
operation state of the controlled equipment or a degree of his/her
operation of the haptic feedback controller such as an operation
state that the desired operation is coming close to the end.
Further, since the haptic feedback which informs the user of a fact
that the fingertip points a predetermined position on the fingertip
pointing path is imparted to the fingertip, the user can confirm
that the predetermined operation is properly performed. As the
haptic feedback which informs the user of the fact that the
fingertip points the predetermined position on the fingertip
pointing path, a sense of touch such as "minute wiggling
vibrations" or "minute clicking vibrations" may be exemplified, for
example. By imparting such haptic feedback controller to the
fingertip at the predetermined position, the user can confirm that
the predetermined operation is properly performed and hence, the
user can acquire confidence on his/her operation.
(7) In the haptic feedback controller having any one of the
constitutions (1) to (6), the fingertip pointing path may
preferably be formed into an annular shape, and the piezoelectric
element and the elastic body may preferably be formed into an
annular shape corresponding to the fingertip pointing path.
By forming the fingertip pointing path into an annular shape, the
operation at the time of controlling controlled equipment becomes a
pointing operation in which the fingertip draws a circle along the
annular fingertip pointing path and hence, a user can perform the
pointing operation with operation feeling similar to operation
feeling experienced at the time of rotating a rotary-type operation
tabmounted on generally-used equipment.
(8) In the haptic feedback controller having any one of the
constitutions (1) to (7), the fingertip pointing path may
preferably be formed linearly, and the piezoelectric element and
the elastic body may preferably be formed linearly corresponding to
the fingertip pointing path.
By forming the fingertip pointing path linearly, the operation at
the time of controlling controlled equipment becomes a pointing
operation which slides the fingertip linearly along the linear
fingertip pointing path and hence, a user can perform the pointing
operation with operation feeling similar to operation feeling
obtained at the time of sliding a slide-type operation tab mounted
on equipment used in general in the lateral direction or in the
vertical direction.
Here, the term "linear" is not limited to a straight line and, for
example, the term "linear" includes other shape such as "arcuate"
or "corrugated".
(9) In the haptic feedback controller having any one of the
constitutions (1) to (8), the fingertip pointing path may
preferably be formed on an upper end surface of the elastic body,
and the pointing position detecting sensor may preferably be fixed
to the upper end surface of the elastic body.
By forming the fingertip pointing path on the upper end of the
elastic body, the haptic feedback controller of the present
invention is preferably applicable to a case where the haptic
feedback controller of the present invention is used in a state
that the feedback controller is mounted on a planar operation panel
of controlled equipment or the like. That is, when the haptic
feedback controller of the present invention is mounted on the
planar operation panel, the fingertip pointing path is formed on
the operation panel surface in a substantially coplanar manner and
hence, the user can perform a control of the controlled equipment
on the operation panel.
(10) In the haptic feedback controller having any one of the
constitutions (1) to (9), the fingertip pointing path may
preferably be formed on a side surface of the elastic body, and the
pointing position detecting sensor may preferably be fixed to the
side surface of the elastic body.
By forming the fingertip pointing path on the side surface of the
elastic body, the haptic feedback controller of the present
invention is preferably applicable to a disc-shaped or cylindrical
equipment controller or the like, for example.
That is, when the haptic feedback controller of the present
invention is mounted on the disc-shaped equipment controller, for
example, it is possible to form the fingertip pointing path along
the circumferential direction of the side surface of the
disc-shaped equipment controller. Accordingly, in performing a
control of controlled equipment using a disc-shaped equipment
controller, the user can perform the pointing operation on the side
surface of the disc-shaped equipment controller. In this manner,
also by arranging the fingertip pointing path on the side surface
of the elastic body, it is possible to provide the convenient
haptic feedback controller depending on the intended use. Further,
the fingertip pointing path may be formed on both the upper end
surface and the side surface of the elastic body.
(11) In the haptic feedback controller having any one of the
constitutions (1) to (10), the haptic feedback controller may
preferably further include a pressure sensitive sensor which
detects a pressure when a user applies the pressure to the pressure
sensitive sensor for performing a pointing operation at a
predetermined position on the fingertip pointing path, and outputs
a signal corresponding to the applied pressure.
With the provision of such a pressure sensitive sensor, in
performing the pointing operation, the user can impart a kind of
command to the haptic feedback controller by pushing the pressure
sensitive sensor with his/her fingertip and hence, operability is
further enhanced. As such a command, for example, a command which
determines a selected menu when the menu selection is performed or
the like may be exemplified.
BEST MODE FOR CARRYING OUT THE INVENTION
A haptic feedback controller according to the present invention is
explained hereinafter in conjunction with embodiments shown in the
drawings. The haptic feedback controller of the present invention
is a haptic feedback controller capable of controlling controlled
equipment in response to a pointing operation which a user performs
with his/her fingertip along a predetermined fingertip pointing
path and capable of imparting haptic feedback corresponding to the
pointing operation to the fingertip. In the embodiments explained
hereinafter, the fingertip pointing path is a path of a circle
which is drawn along the circumference of a circle having a
predetermined diameter.
Embodiment 1
FIG. 1 is a view for explaining the haptic feedback controller 100
according to the embodiment 1. FIG. 1A is a plan view of the haptic
feedback controller 100, FIG. 1B is a side view of the haptic
feedback controller 100, and FIG. 1C is a perspective view of the
haptic feedback controller 100.
FIG. 2 is an exploded perspective view for explaining the haptic
feedback controller 100 according to the embodiment 1.
The haptic feedback controller 100 according to the embodiment 1
includes, as shown in FIG. 1 and FIG. 2, a disc-shaped base 110, a
disc-shaped haptic feedback imparting device 120 which is fixed to
the disc-shaped base 110 and imparts haptic feedback to a fingertip
of a user, a pointing position detecting sensor 130 such as an
electrostatic capacitance sensor which is fixed to the haptic
feedback imparting device 120 and detects a pointing position of
the fingertip on the fingertip pointing path, and a pressure
sensitive sensor 140 which is fixed to a lower surface of the base
110 (a surface of the base 110 on a side opposite to a mounting
surface of the haptic feedback imparting device 120) of the base
110, detects a pressure when a user applies the pressure for
performing any operational pointing (for example, pointing for
selecting a selection item or the like) at a predetermined position
on the fingertip pointing path, and outputs information
corresponding to the applied pressure (selected pointing
information).
The haptic feedback imparting device 120 includes a ring-shaped
piezoelectric element 121 which generates vibrations corresponding
to an applied high frequency voltage when a predetermined high
frequency voltage is applied to the piezoelectric element 121, and
a ring-shaped elastic body 122 which is fixed to the piezoelectric
element 121. The elastic body 122 plays a role of transmitting
vibrations of the piezoelectric element 121 to a fingertip by way
of the pointing position detecting sensor 130 when the
piezoelectric element 121 is vibrated. Here, a large number of
grooves are formed in the elastic body 122 at predetermined
intervals as shown in FIG. 1 thus forming the elastic body 122 into
a comb shape consisting of projecting portions 122a and recessed
portions 122b.
The haptic feedback imparting device 120 is fixed to the base 110
by way of a base mounting plate 123. That is, screw holes 123a are
formed in the base mounting plate 123 at a plurality of positions,
and the piezoelectric element 121 can be fixed to the base 110 by
fixing the base mounting plate 123 to the base 110 using bolts (not
shown in the drawing).
As shown in an enlarged view of a portion surrounded by a
broken-line frame F in FIG. 1C, the pointing position detecting
sensor 130 includes a large number of position detecting electrodes
130a for detecting a fingertip position (hereinafter, simply
referred to as electrodes 130a). These respective electrodes 130a
are provided corresponding to the projecting portions 122a of the
elastic body 122, and a gap 130b formed between the neighboring
electrodes is provided at a position corresponding to the recessed
portion 122b of the elastic body 122. Upper sides of these
respective electrodes 130a and the gaps 130b are covered with a
surface member 131 formed of a thin film. Accordingly, the pointing
position detecting sensor 130 has a planar shape in appearance as
shown in FIG. 1.
By constituting the elastic body 122 and the pointing position
detecting sensor 130 described above, it is possible to efficiently
transmit vibrations of the piezoelectric element to the fingertip.
The efficient transmission of the vibrations of the piezoelectric
element to the fingertip implies that the vibrations of the
piezoelectric element can be reduced such that the vibrations
become small in amount and hence, the piezoelectric element can be
driven with small power consumption thus also contributing to power
saving.
Further, each electrode 130a of the pointing position detecting
sensor 130 includes a position detecting signal output terminal
130c for outputting a signal for pointing position detection. A
position detection signal outputted from the predetermined
electrode 130a by way of the position detecting signal output
terminal 130c is transmitted to a control part 180 shown in FIG. 3.
Accordingly, the control part 180 can generate, based on the
position detecting signal outputted from the predetermined
electrode 130a, pointing position information indicative of a
position which is pointed by the fingertip.
The haptic feedback controller 100 according to the embodiment 1
has, as shown in FIG. 1 and FIG. 2, disc-shaped appearance, and an
outer diameter of the haptic feedback controller 100 is set to a
value which falls within a range approximately from 20 mm to 120
mm, for example.
FIG. 3 is a block diagram for explaining functions of the haptic
feedback controller 100 according to the embodiment 1. The haptic
feedback controller 100 according to the embodiment 1 further
includes, as shown in FIG. 3, a piezoelectric element control
device 160 which controls vibrations of the piezoelectric element
121, an input/output device 170 which performs inputting/outputting
of information between a control part 310 of controlled equipment
(referred to as a controlled equipment-side control part 310) and
the input/output device 170, a control part 180 which has a
function of controlling the piezoelectric element control device
160 and the input/output device 170, a function of generating
pointing position information based on a signal from the pointing
position detecting sensor 130 (see FIG. 1), and a function of
generating a selection pointing signal based on a signal from the
pressure sensitive sensor 140 (see FIG. 1).
As information which is inputted/outputted between the input/output
device 170 and the controlled equipment-side control part 310, the
following information may be exemplified. That is, besides the
pointing position information based on a pointing position detected
by the pointing position detecting sensor 130, a selection pointing
signal based on a signal detected by the pressure sensitive sensor
140, feedback information from the controlled equipment and the
like, message information which the controlled equipment wants to
transmit to the user, information for controlling a light source
which may be provided to the haptic feedback controller and the
like may be exemplified.
The haptic feedback controller 100 according to the embodiment 1
having such a constitution is preferably used in a mode where the
haptic feedback controller 100 is directly incorporated into the
controlled equipment or in a mode where the haptic feedback
controller 100 is incorporated into other controller for
controlling the controlled equipment.
FIG. 4 is a view for explaining one example of an application mode
of the haptic feedback controller 100 according to the embodiment
1. The controlled equipment shown in FIG. 4 is equipment for
editing images, music or the like (hereinafter, referred to as
video/music editing equipment 300).
The video/music editing equipment 300 includes, as shown in FIG. 4,
two haptic feedback controllers 100 on an operation panel 330, and
images or music can be edited using these two haptic feedback
controllers 100.
In the haptic feedback controller 100, the piezoelectric element
121 and the elastic body 122 which constitute the haptic feedback
imparting device 120 has a ring shape and hence, as shown in FIG. 1
and FIG. 2, a space portion 160 is formed inside the haptic
feedback imparting device 120. In incorporating such a haptic
feedback controller 100 into the controlled equipment (video/music
editing equipment 300 in the example shown in FIG. 4), it is
preferable to provide a lid body 150 (see FIG. 4) which covers the
space portion 160 of the haptic feedback imparting device 120. The
provision of such a lid body 150 is also preferable from a
viewpoint of appearance. That is, the space portion 160 of the
haptic feedback imparting device 120 in the haptic feedback
controller 100 is not visible from the outside with naked eyes.
Further, the piezoelectric element control device 160, the control
part 180, the input/output device 170 and the like shown in FIG. 3
may be incorporated into the space portion 160.
Further, the video/music editing equipment 300 includes two haptic
feedback controllers 100 in the example shown in FIG. 4. However,
the number of haptic feedback controller 100 is not limited to two,
and the number of haptic feedback controller 100 may be one, three
or more depending on the video/music editing equipment.
The haptic feedback controller 100 according to the embodiment 1
can be used as follows. When a user moves his/her fingertip along
the fingertip pointing path, that is, on the pointing position
detecting sensor 130, the pointing position detecting sensor 130
detects a pointing position pointed by the fingertip and outputs a
detection signal to the control part 180. The control part 180
generates pointing position information based on the detection
signal from the pointing position detecting sensor 130, and outputs
the pointing position information to the input/output device 170.
The input/output device 170 outputs the pointing position
information to the controlled equipment-side control part 310.
Accordingly, the controlled equipment-side control part 310
performs a control corresponding to an operation mode of the
video/music editing equipment 300 on that occasion.
The control corresponding to an operation mode may be, for example,
a control which enables selection of a music number when the
operation mode on that occasion is an operation mode for music
number selection, a control which enables fast feeding when the
operation mode on that occasion is an operation mode for performing
fast feeding, or a control which enables rewinding when the
operation mode on that occasion is an operation mode for performing
rewinding.
Further, the controlled equipment-side control part 310 outputs,
based on the pointing position information transmitted from the
haptic feedback controller 100 and an operation mode of the
controlled equipment-side control part 310 per se on that occasion,
feedback information for controlling the piezoelectric element 121
to the haptic feedback controller 100.
The input/output device 170 of the haptic feedback controller 100
outputs, upon reception of inputting of feedback information from
the controlled equipment-side control part 310, the received
feedback information to the control part 180. The control part 180
outputs the feedback information to the piezoelectric element
control device 160, and allows the piezoelectric element control
device 160 to control the piezoelectric element 121.
Here, an operational example of the video/music editing equipment
300 in a mode where a music number is selected (music number
selection mode) is explained. As a method of selecting the music
number, a cursor is sequentially moved on a large number of music
numbers which are displayed on a screen 320 of the video/music
editing equipment 300 by scroll display, and a determination
operation is performed when the cursor arrives at the desired music
number so that the desired music number is selected.
In performing such a music number selecting operation using the
haptic feedback controller 100, a fingertip is moved on the
pointing position detecting sensor 130 in the predetermined
direction, and the user pushes (presses) the pointing position
detecting sensor 130 at a predetermined position with his/her
fingertip. That is, when the user moves his/her finger on the
pointing position detecting sensor 130 in the predetermined
direction, a cursor sequentially moves on music numbers displayed
on the screen 320 by scroll display, and when the cursor arrives at
the desired music number, the user pushes the pointing position
detecting sensor 130 (applying pressure to the pointing position
detecting sensor 130) with his/her fingertip.
In such a music number selection mode, for an initial state, assume
that the piezoelectric element control device 160 controls the
piezoelectric element 121 so as to guide the fingertip in the
predetermined direction at a constant speed in response to haptic
feedback information from the controlled equipment-side control
part 310. In such a state, when the user places his/her fingertip
on the pointing position detecting sensor 130, the fingertip is
moved while being guided on the pointing position detecting sensor
130 in the predetermined direction (clockwise direction).
The above-mentioned operation uses the principle of piezoelectric
motor. Accordingly, the fingertip which is put on the pointing
position detecting sensor 130 performs rotary movement along the
piezoelectric element 121 and the elastic body 122. That is, the
fingertip is moved such that the fingertip is guided in the
clockwise direction on the pointing position detecting sensor
130.
Due to the movement of the fingertip in the clockwise direction, on
the screen 320, the cursor is sequentially moved along with the
movement of the fingertip on the music numbers displayed on the
screen 320 by scroll display.
FIG. 5 is a view schematically showing one example of an operation
of the haptic feedback controller 100 according to the embodiment
1. FIG. 5A is a view schematically showing a state of haptic
feedback which the haptic feedback controller 100 imparts to a
fingertip, and FIG. 5B is a view showing the movement of the cursor
CSL on the screen 320 of the video/music editing equipment 300.
First of all, as an initial state, assume that the haptic feedback
controller 100 performs an operation of imparting haptic feedback
for guiding the fingertip 10 in the clockwise direction to the
fingertip (referred to as a fingertip guiding operation).
Here, assume that the fingertip is put on the pointing position
detecting sensor 130 at a predetermined position P0 (initial
position P0), the fingertip 10 is guided in the clockwise direction
(direction indicated by an arrow A) from the position P0 due to the
fingertip guiding operation. Here, on the screen 320 of the
video/music editing equipment 300, the cursor CSL for selecting
music number is sequentially moved in the direction indicated by an
arrow C as shown in FIG. 5B.
Then, when the fingertip 10 arrives at a position P1 shown in FIG.
5A (assume that the cursor CSL is at a position immediately before
the music number M2 at this point of time), the fingertip guiding
operation is released and braking is applied to the movement of the
fingertip so that the fingertip 10 is stopped at a position P2
(assume that the cursor CSL is at a position where the cursor CSL
arrives at the music number M2 at this point of time). Here, the
fingertip guiding operation can be released by controlling stopping
of application of high frequency voltage to the piezoelectric
element 121.
Here, when the music number M2 is not the desired music number, the
user tries to further move his/her fingertip 10 in the clockwise
direction from the position P2, that is, in the direction indicated
by arrow A. Due to such an operation, the fingertip is again guided
due to the fingertip guiding operation, and an operation similar to
the above-mentioned operation is performed. That is, when the
fingertip 10 arrives at a position P3 (assume that the cursor CSL
is at a position immediately before a music number M3 at this point
of time), the fingertip guiding operation is released and braking
is applied to the movement of the fingertip so that the fingertip
10 is stopped at a position P4 (assume that the cursor CSL is at a
position where the cursor CSL arrives at the music number M3 at
this point of time).
Here, when the music number M3 is a desired music number, the user
pushes the pointing position detecting sensor 130 with his/her
fingertip 10 at such a position. Accordingly, the pressure
sensitive sensor 140 (see FIG. 1 and FIG. 2) detects pressing of
the pointing position detecting sensor 130 with the fingertip and
outputs a detection signal to the control part 180. The control
part 180 generates selection pointing information based on the
detection signal from the pressure sensitive sensor 140, and the
selection pointing information is imparted to the controlled
equipment-side control part 310 so that the desired music number is
selected.
Here, in FIG. 5A, a zone where the fingertip guiding operation is
performed (for example, a zone ranging from P0 to P1, a zone
ranging from P2 to P3 or the like) is referred to as a fingertip
guiding operation zone, and a zone ranging from a position where
the fingertip guiding operation is released to a position where the
fingertip 10 is stopped (for example, a zone from P1 to P2, a zone
from P3 to P4 or the like) is referred to as a braking zone.
As explained above, in selecting the music number, when the user
merely places his/her fingertip 10 on the pointing position
detecting sensor 130 of the haptic feedback controller 100, the
fingertip 10 is naturally guided in the predetermined direction due
to the fingertip guiding operation, and the cursor CSL is moved
along with such guiding of the fingertip. Then, when the cursor CSL
approaches the individual music number, the fingertip guiding
operation is released and braking is applied to the movement of the
fingertip 10, and when the cursor CSL arrives at the individual
music number, the movement of the fingertip 10 is naturally
stopped. By imparting haptic feedback such as the fingertip guiding
operation or the release of the fingertip guiding operation to the
fingertip 10 of the user, the user can easily and properly perform
a music number selecting operation in a music number selection
mode.
When the fingertip arrives at the predetermined position, that is,
when the cursor CSL arrives at the individual music number, it may
be also possible to impart haptic feedback which positively informs
the user of the arrival of the fingertip 10 at the predetermined
position. As such haptic feedback, haptic feedback such as "minute
wiggling vibrations" or "minute clicking vibrations" may be
exemplified. By imparting such haptic feedback to the fingertip 10,
the user properly acquires that the fingertip 10 is at the selected
position so that operability of the haptic feedback controller 100
can be further enhanced.
The operation of the haptic feedback controller 100 in the music
number selecting operation mode has been explained heretofore.
However, by setting various operation modes, the haptic feedback
controller 100 can impart versatile haptic feedbacks to the
fingertip 10 of the user in the respective operation modes.
For example, fast-feeding/rewinding operation modes are set such
that fast-feeding is performed when the fingertip 10 is moved in
the clockwise direction from a predetermined position (assuming the
position P0 in FIG. 5A as such a predetermined position), and
rewinding is performed when the fingertip 10 is moved in the
counterclockwise direction from the predetermined position.
With respect to such fast-feeding/rewinding operation modes, in
performing fast-feeding, a fast-feeding speed is set such that when
the fingertip 10 is moved in the clockwise direction (direction
indicated by an arrow A) from the position P0, a fast-feeding speed
is increased along with the movement of the fingertip 10, and the
fast-feeding speed becomes maximum at a position P4 in FIG. 5A, for
example. On the other hand, in performing rewinding, a rewinding
speed is set such that when the fingertip 10 is moved in the
counterclockwise direction (direction indicated by an arrow B) from
the position P0, the rewinding speed is increased along with the
movement of the fingertip 10, and the rewinding speed becomes
maximum at a position P10 in FIG. 5A, for example.
Further, in performing the fast-feeding operation, haptic feedback
is imparted such that the closer the fingertip 10 approaches the
position P4, the larger the amount of resistance the fingertip 10
feels. The haptic feedback imparted here is, for example, haptic
feedback which is similar to feeling that the user perceives when
the fingertip 10 is pulled back by a coil spring or the like. This
haptic feedback becomes maximum at the position P4, and the
fast-feeding speed becomes maximum at the position P4.
In the same manner, in performing the rewinding operation, haptic
feedback is imparted such that the closer the fingertip 10
approaches the position P10, the larger the resistance the
fingertip 10 feels. The haptic feedback imparted here is, in the
same manner as the haptic feedback perceived at the time of
fast-feeding, for example, haptic feedback which is similar to
feeling that the user perceives when the fingertip 10 is pulled
back by a coil spring or the like. This haptic feedback becomes
maximum at the position P10, and the rewinding speed becomes
maximum at the position P10.
In the fast-feeding/rewinding operation modes, such haptic feedback
is imparted to the fingertip 10. Accordingly, in performing the
fast-feeding operation or the rewinding operation, the user
acquires the fast-feeding speed or the rewinding speed intuitively
and hence, the fast-feeding/rewinding operation modes can be
smoothly performed.
As the haptic feedback which can be used in the
fast-feeding/rewinding operation modes, it may be possible to
impart haptic feedback different from the above-mentioned haptic
feedback.
For example, it may be also possible to impart the following haptic
feedback. That is, when the user moves his/her fingertip in the
clockwise direction so as to perform the fast-feeding operation,
the haptic feedback which guides the fingertip at a high speed in
the clockwise direction is imparted to the fingertip and, when the
fingertip approaches a desired fast-feeding position in the midst
of such a fast-feeding operation, the user feels resistance in the
movement of his/her fingertip.
In the same manner, it may be also possible to impart the following
haptic feedback. That is, when the user moves his/her fingertip in
the counterclockwise direction so as to perform the rewinding
operation, the haptic feedback which guides the fingertip at a high
speed in the clockwise direction is imparted to the fingertip and,
when the fingertip approaches a desired rewinding position in the
midst of such a rewinding operation, the user feels resistance in
the movement of his/her fingertip.
In the fast-feeding/rewinding operation modes, by imparting the
above-mentioned respective haptic feedbacks to the fingertip, the
user acquires a state of the fast-feeding operation or the
rewinding operation based on a sense of touch of his/her fingertip
and hence, the user can properly perform the fast-feeding operation
or the rewinding operation.
Further, in a reproduction operation mode which reproduces music,
it may be possible to impart haptic feedback which informs a user
of a fact that the reproduction of the music almost is coming to
the end. To be more specific, the haptic feedback is imparted such
that when the user places his/her fingertip on the pointing
position detecting sensor 130 in the course of the reproduction of
the music, the fingertip is smoothly guided at a fixed speed. On
the other hand, when the user places his/her fingertip on the
pointing position detecting sensor 130 when the music comes to an
end, the movement of the fingertip becomes gradually slow and the
movement of the fingertip is stopped when the music is finished. In
the reproduction operation mode, by imparting such haptic feedback
to the fingertip, the user acquires a reproduction state based on
the sense of touch of the fingertip.
With respect to the haptic feedback controller 100 according to the
embodiment 1, in operating the haptic feedback controller 100 in
the respective operation modes, by controlling the piezoelectric
element corresponding to the respective states, it is possible to
impart the haptic feedbacks having versatile expressive powers to
the fingertip. Accordingly, the video/music editing equipment 300
into which the haptic feedback controller 100 according to the
embodiment 1 is incorporated can easily perform an editing
operation of images or music.
Further, the haptic feedback controller 100 according to the
embodiment 1 can generate beams having a plurality of colors
corresponding to pointing operations of the fingertip or contents
of haptic feedback with respect to the pointing operations of the
fingertip.
For example, a large number of light emitting diodes (hereinafter
referred to as LEDs) which constitute light emitting bodies are
arranged along the circumference of the fingertip pointing path,
and in synchronism with an operation of the fingertip which moves
along the fingertip pointing path, the LED arranged at a position
corresponding to the position of the fingertip emits light.
A light emitting operation of the LED can be realized such that in
response to pointing position information outputted from the
control part 180 based on a detection signal from the pointing
position detecting sensor 130, the LED corresponding to the
position of the moving fingertip emits light.
Although the LED which emits light may be only the LED
corresponding to the position of the fingertip at a current point
of time, light emitting states of the LEDs from a starting position
of the fingertip to a position of the fingertip at the current
point of time may remain as they are. Due to such an operation, all
LEDs corresponding to the fingertip pointing path which the
fingertip traces are brought into a light emitting state and hence,
the user can understand at a glance a range of pointing operation
from a position of the fingertip pointing path at which the
pointing operation starts to a position of the fingertip pointing
path at which the pointing operation is finished.
FIG. 6 is a view showing the constitution of the haptic feedback
controller 100 when the LEDs are arranged along the circumference
of the fingertip pointing path. FIG. 6 is a view which corresponds
to FIG. 1A, and a large number of LEDs 201 are arranged along the
circumference of the fingertip pointing path. The respective LEDs
201 are arranged along the circumference of the fingertip pointing
path corresponding to respective pointing position detecting
portions of the pointing position detecting sensor, that is, the
respective electrodes 130a (see the constitution surrounded by a
broken-line frame F in FIG. 1C).
As described above, with the use of the haptic feedback controller
100 according to the embodiment 1, it is possible to provide the
haptic feedback controller possessing versatile expressive
powers.
Further, the haptic feedback controller 100 according to the
embodiment 1 uses the principle of piezoelectric motor. Since the
haptic feedback controller 100 according to the embodiment 1 uses
the principle of piezoelectric motor, the haptic feedback
controller 100 according to the embodiment 1 can enjoy various
advantages that the piezoelectric motor possesses. For example, the
piezoelectric motor exhibits excellent response characteristic, can
change over the rotational direction thereof at a high speed, and
exhibits high resolution in operation along the rotational
direction. Due to such a constitution, the haptic feedback
controller 100 according to the embodiment 1 is realized as the
haptic feedback controller having these characteristics.
Further, different from a motor which makes use of an
electromagnetic force, the piezoelectric motor does not use an
electromagnetic force as a drive source. Accordingly, the haptic
feedback controller 100 according to the embodiment 1 can be
preferably used in applications which obviate the use of a magnetic
force. Further, the piezoelectric motor does not use a belt
transmission mechanism and hence, the haptic feedback controller
100 according to the embodiment 1 can acquire an advantageous
effect that, as shown in FIG. 1, the haptic feedback controller 100
can decrease a size thereof in the thickness direction thus
exhibiting a slim shape in appearance.
In the haptic feedback controller 100 according to the embodiment
1, the explanation has been made with respect to the example in
which the electrostatic capacitance sensor is used as the pointing
position detecting sensor 130 for detecting the pointing position
of the fingertip. However, the pointing position detecting sensor
130 is not limited to the electrostatic capacitance sensor, and a
pressure sensitive sensor, a photo sensor or the like can be also
used as the pointing position detecting sensor 130.
Even when a pressure sensitive sensor is used as the pointing
position detecting sensor, the pointing position can be properly
detected based on a pressure which is applied when a user performs
a tracing operation along the fingertip pointing path with his/her
fingertip. Further, the pressure sensitive sensor can be formed
into a thin plate shape in the same manner as the electrostatic
capacitance sensor and hence, a total thickness of the haptic
feedback controller can be decreased whereby it is possible to
provide haptic feedback controller which is suitable for portable
equipment deemed necessary to satisfy demand for reduction of
thickness and miniaturization.
Further, by using an optical sensor as the pointing position
detecting sensor, it is unnecessary to fix the sensor such as the
electrostatic capacitance sensor, the pressure sensitive sensor to
the elastic body and hence, the total thickness of the haptic
feedback controller can be further decreased.
In the haptic feedback controller 100 according to the embodiment
1, a force which is applied to the fingertip is detected by a
pressure sensitive sensor 140, and a detected signal is outputted
as a kind of command signal of the user (a command indicative of
the decision which is made by the user in performing a selecting
operation or the like). However, it is possible to output the
command signal of the user without using the pressure sensitive
sensor 140.
For example, when the user performs a pointing operation with
his/her fingertip using the pointing position detecting sensor
(assuming the electrostatic capacitance sensor as the pointing
position detecting sensor), the pointing position detecting sensor
can detect that the fingertip is removed from the pointing position
detecting sensor and hence, a signal indicative of the removal of
the fingertip can be outputted as the command signal of the
user.
Further, the input/output device 170 is provided for allowing the
haptic feedback controller 100 to be directly used as a controller
of the controlled equipment by connecting the haptic feedback
controller 100 to the controlled equipment. Accordingly, when the
haptic feedback controller is used in a state where the haptic
feedback controller is incorporated into the controlled equipment
at a time of manufacturing or shipping the controlled equipment,
the haptic feedback controller 100 is operable even when the
input/output device 170 is not provided as a constitutional element
of the haptic feedback controller 100. Even when the haptic
feedback controller 100 is used in a form that the haptic feedback
controller 100 is incorporated into the controlled equipment at a
time of manufacturing or shipping the controlled equipment, the
haptic feedback controller 100 may include the input/output device
170 as well.
Further, as the controlled equipment, besides the above-mentioned
video/music editing equipment 300, a television receiver set
(hereinafter referred to as a TV), a family gaming machine, a
radio-controlled model car, various kinds of vehicle-loaded
equipment mounted on an automobile, various kinds of machine tools
installed in a factory, medical equipment and the like may be
exemplified. The haptic feedback controller according to the
present invention can be used as controllers of these
equipments.
With the use of the haptic feedback controller 100 according to the
embodiment 1 as a controller of a TV, it is possible to perform a
control of the TV more intuitively. For example, in adjusting left
and right sound volume balance of stereo sounds, the resistance
against the movement of the fingertip is increased at a
negative-positive-zero position so that the user can understand
that this position is the negative-positive-zero position
intuitively. Further, in selecting a channel by moving his/her
fingertip on the haptic feedback controller, the user can perceive
click feeling each time the channel is changed or the rotational
resistance is lowered when the fingertip passes a channel which the
user cannot receive via broadcasting thus enhancing convenience
when watching the TV.
Further, with the use of the haptic feedback controller 100
according to the embodiment 1 as a controller for performing the
control of family-use gaming equipment, the user can perform the
control of the gaming equipment more intuitively. For example, in a
role playing game, it may be possible to impart haptic feedback
where the user bounces back when the user bumps into a wall.
Further, the user can acquire a more real reaction from the gaming
equipment. For example, in a shooting game, when a player in the
game is shot, it is possible to impart haptic feedback that the
haptic feedback controller is vibrated or the like to the user.
Further, in a ping pong game, at the time of hitting back a ping
pong ball, the user can perceive a sense of touch while hitting
back the ping pong ball and hence, the user can hit back the ping
pong ball in the direction that the user desires thus enhancing the
realistic sensation of the game.
Further, with the use of the haptic feedback controller 100
according to the embodiment 1 as a remote controller for performing
a control of a radio-controlled model car, it is possible to
perform the control of the radio-controlled model car more
intuitively. For example, the user can acquire real feedback
corresponding to an environment where the radio-controlled model
car is placed such as a feedback in which the user loses a control
of a steering wheel immediately after the radio-controlled model
car enters a gravel road from a paved road.
Further, with the use of the haptic feedback controller 100
according to the embodiment 1 as a controller of vehicle-loaded
equipment which is mounted on an automobile (for example, an air
conditioning system, an audio video system, a navigation system or
the like), the user can operate a control panel more
intuitively.
For example, in adjusting left and right sound volume balance of
stereo sounds, the resistance against the movement of the fingertip
is increased at a negative-positive-zero position so that the user
can understand that this position is the negative-positive-zero
position intuitively and hence, the convenience in use of the
control panel can be enhanced. Further, it is possible to impart
various functions to the haptic feedback controller and hence, the
number of button switches and the number of tab switches can be
decreased so that the interior of the automobile can be
simplified.
Further, with the use of the haptic feedback controller 100
according to the embodiment 1 as a controller for a machine tool or
the like installed in a factory, the user can operate the machine
tool more intuitively. For example, when the machine tool is a
cutting machine, it is possible to provide feedback in which a
fingertip of the user receives substantially no resistance when a
work is being moved toward a cutting position, and the resistance
is suddenly increased when the work approaches the cutting position
and hence, the convenience in use of the cutting machine can be
enhanced. Further, for example, the user can determine the cutting
conditions while feeling a stress which a cutting tool receives and
hence, it is possible to perform cutting always under optimum
conditions in operations carried out thereafter whereby it is
possible to enhance quality of products manufactured by cutting and
to prolong a lifetime of the cutting tool.
Further, with the use of the haptic feedback controller 100
according to the embodiment 1 as a controller for medical
equipment, the user can operate the medical equipment more
intuitively. For example, it is possible to impart feedback in
which a fingertip of the user receives resistance in advance when
an endoscope is about to bump into a wall of an internal organ and
hence, the convenience in use of the endoscope is enhanced.
Embodiment 2
A haptic feedback controller 101 according to an embodiment 2 has
the constitution which allows the haptic feedback controller 101 to
be preferably used as a menu selecting operation part of a mobile
phone or the like. That is, to allow the haptic feedback controller
101 according to the embodiment 2 to be compatible with a pointing
operation where the cushion of a fingertip (mainly a thumb) can be
rotated to draw a small circle without largely changing a position
of the fingertip, an outer diameter of the haptic feedback
controller is set to approximately 5 mm to 20 mm.
FIG. 7 is a view for explaining one example of an application mode
of the haptic feedback controller 101 according to the embodiment
2. The haptic feedback controller 101 according to the embodiment 2
is, as shown in FIG. 7, a haptic feedback controller for performing
a control of a mobile phone 400 which constitutes controlled
equipment.
With respect to the haptic feedback controller 101 according to the
embodiment 2, as shown in FIG. 7, there is described an example in
which the haptic feedback controller 101 is used as an operating
part for performing menu selection or setting of selected menu in
the mobile phone 400 (hereinafter referred to as a menu
selecting/setting operation part) 410. The haptic feedback
controller 101 according to the embodiment 2 substantially has the
same constitution and functions as the haptic feedback controller
100 according to the embodiment 1 except for that these haptic
feedback controllers 100, 101 differ in outer diameter. Further,
the haptic feedback controller 101 according to the embodiment 2
is, in the same manner as the video/music editing equipment 300
explained in conjunction with FIG. 4, provided with a lid body 150
for covering a space portion of a haptic feedback imparting device
120 in the haptic feedback controller 101.
An application example of the haptic feedback controller 101
according to the embodiment 2 having such a constitution is
explained. For example, in a state that a plurality of menus which
the mobile phone has is displayed on a screen 420, a user can move
a cursor on the plurality of menus displayed on the screen 420
sequentially by tracing a pointing position detecting sensor 130 of
the haptic feedback controller 101 with a cushion of his/her thumb.
At a point of time that the cursor arrives at a desired menu, the
user pushes the haptic feedback controller 101 with his/her
fingertip so that setting of the menu becomes possible.
Also in performing such an operation, it is possible to impart
haptic feedback to the fingertip of the user in the same manner as
the haptic feedback controller 100 according to the embodiment 1 so
that the user can easily and properly perform the menu selecting
operation (see FIG. 5, for example). When the cursor arrives at the
individual menu, it is also possible to impart haptic feedback in
which vibrations such as "minute wiggling vibrations" or "minute
clicking vibrations", for example, are generated at such a position
thus providing a mobile phone which exhibits excellent
operability.
Further, the use of the haptic feedback controller 101 according to
the embodiment 2 is not limited only to the mobile phone, and the
haptic feedback controller 101 according to the embodiment 2 can be
used in various portable information equipments. For example, the
haptic feedback controller 101 according to the embodiment 2 can be
also preferably used as an operation part of a portable digital
audio player or the like.
Embodiment 3
FIG. 8 is a view showing the constitution of a haptic feedback
controller 102 according to an embodiment 3. FIG. 8A is a plan view
of the haptic feedback controller 102 according to the embodiment
3, and is a view corresponding to FIG. 1B. Further, FIG. 8B is a
side view of the haptic feedback controller 102 according to the
embodiment 3, and is a view corresponding to FIG. 1B. The haptic
feedback controller 102 according to the embodiment 3 can use a
side surface 122c of an elastic body 122 as a fingertip pointing
path.
In the haptic feedback controller 102 according to the embodiment
3, as shown in FIG. 8, the elastic body 122 has a projecting
portion 12d which extends downwardly such that the elastic body 22
can cover an edge surface 121a of a piezoelectric element 121.
Here, the side surface 122c of the elastic body 122 forms a finger
tip pointing path. Accordingly, a pointing position detecting
sensor 130 is provided to the side surface 122c of the elastic body
122.
The pointing position detecting sensor 130 of the haptic feedback
controller 102 according to the embodiment 3 differs from the
pointing position detecting sensors of the haptic feedback
controllers according to the embodiments 1, 2 only with respect to
the mounting position of the pointing position detecting sensor.
Accordingly, the pointing position detecting sensor 130 of the
haptic feedback controller 102 according to the embodiment 3 can
adopt the structure substantially equal to the structures of the
pointing position detecting sensors 130 of the haptic feedback
controllers according to the embodiments 1, 2 (see FIG. 1C).
Since the haptic feedback controller 102 according to the
embodiment 3 has such a constitution, the haptic feedback
controller 102 can be used in applications different from the
applications in which the haptic feedback controllers 100, 101
according to the embodiments 1, 2 are used.
For example, when a controller (a remote controller or the like)
for controlling controlled equipment has a disc shape or a
cylindrical shape, or the controlled equipment per se has a disc
shape or a cylindrical shape, the haptic feedback controller 102
according to the embodiment 3 can be preferably applicable to such
a controller.
That is, by incorporating the haptic feedback controller 102
according to the embodiment 3 into the disc-shaped or cylindrical
controller or the controlled equipment, the fingertip pointing path
is formed on a side surface of the disc-shaped or cylindrical
controller. Accordingly, it is possible to control the controlled
equipment by performing a fingertip pointing operation on the side
surface of the disc-shaped or cylindrical controller. Here, in
controlling the controlled equipment, it is possible to impart
haptic feedback to the fingertip in the same manner as the haptic
feedback controllers according to the embodiment 1 or 2.
Although the haptic feedback controllers of the present invention
have been explained in conjunction with the above-described
respective embodiments, the present invention is not limited to the
above-mentioned respective embodiments, and various modifications
can be carried out without departing from the gist of the present
invention.
For example, in the above-mentioned respective embodiments, the
piezoelectric element 121 and the elastic body 122 are formed in an
annular shape respectively. Here, the term "an annular shape"
includes not only a circular shape but also an elliptical shape and
an oblong shape. Further, when the piezoelectric element 121 and
the elastic body 122 are formed in an annular shape, there may be a
case where only a portion of the annular shape may be used as the
fingertip pointing path.
Further, the piezoelectric element 121 and the elastic body 122 may
be also formed linearly respectively. Here, the term "linearly"
includes not only a straight line but also an arcuate line, a
corrugated line and the like.
Further, although the elastic body 122 is formed into a comb shape
consisting of the projecting portions 122a and the recessed
portions 122b, the shape of the elastic body 122 is not limited to
the comb shape.
Further, in the above-mentioned respective embodiments, the lid
body 150 is provided for covering the space portion 160 of the
haptic feedback imparting device 120. However, in place of the lid
body 150 which covers the space portion 160, an operation button
switch having a certain function may be used such that the
operation button switch also functions as a lid body. That is, a
pressure sensitive sensor may be arranged in the space portion 160
and a control signal may be generated by applying a pressure to the
pressure sensitive sensor by way of the operation button switch.
With the provision of such an operation button switch, the haptic
feedback controller of the present invention can have more
versatile functions thus further enhancing the convenience in use
of the haptic feedback controller.
Further, the finger tip pointing path is formed on the upper end
surface of the elastic body 122 in the haptic feedback controllers
according to the embodiment 1, 2, while the finger tip pointing
path is formed on the side surface 122c of the elastic body 122 in
the haptic feedback controller according to the embodiment 3.
However, the finger tip pointing path may be formed on both the
upper end surface and the side surface of the elastic body 122.
Further, the outer diameter of the haptic feedback controller is
set to approximately 20 mm to 120 mm with respect to the haptic
feedback controller according to the embodiment 1, and is set to
approximately 5 mm to 20 mm with respect to the haptic feedback
controller according to the embodiment 2. However, the outer
diameter of the haptic feedback controller is not limited to values
which fall within such ranges, and it may be possible to
manufacture a haptic feedback controller having an outer diameter
smaller than 5 mm or an outer diameter larger than 120 mm.
Further, with the use of the haptic feedback controller of the
present invention, it is possible to provide a completely novel
message transmitting method. That is, in the haptic feedback
controller, by allowing the haptic feedback controller to impart
plural kinds of vibrations or plural kinds of resistances to the
fingertip as haptic feedbacks to the fingertip, the haptic feedback
controller of the present invention can transmit messages relating
to language information to the user.
The message transmitting method using such haptic feedbacks can
transmit the messages relating to language information to the user
in a manner which completely differs from manners of conventional
methods and hence, there is a possibility that the message
transmitting method becomes a completely novel communication
method. For example, the message transmitting method has a
possibility of transmitting messages relating to the language
information to a blind person in a more easily understandable
manner. As such a method for transmitting the message relating to
language information, a method in which a message relating to
language information is once transformed into Morse signals or
other signals, and the haptic feedback controller is vibrated based
on the signals may be exemplified.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 A view for explaining a haptic feedback controller 100
according to an embodiment 1.
FIG. 2 An exploded perspective view for explaining the haptic
feedback controller 100 according to the embodiment 1.
FIG. 3 A block diagram for explaining functions of the haptic
feedback controller 100 according to the embodiment 1.
FIG. 4 A view for explaining one example of an application mode of
the haptic feedback controller 100 according to the embodiment
1.
FIG. 5 A view schematically showing one example of an operation of
the haptic feedback controller according to the embodiment 1.
FIG. 6 A view showing the constitution of the haptic feedback
controller when LEDs are arranged along the circumference of a
fingertip pointing path.
FIG. 7 A view for explaining one example of an application mode of
a haptic feedback controller 101 according to an embodiment 2.
FIG. 8 A side view of a haptic feedback controller 102 according to
an embodiment 3.
FIG. 9 A constitutional view for explaining a conventional haptic
feedback controller 500.
FIG. 10 A block diagram for explaining functions of the
conventional haptic feedback controller 500.
DESCRIPTION OF THE REFERENCE NUMERALS AND SIGNS
100, 101, 102: haptic feedback controller 110: base 120: haptic
feedback imparting device 121: piezoelectric element 122: elastic
body 122a: projecting portion of elastic body 122b: recessed
portion of elastic body 122c: side surface of elastic body 130:
pointing position detecting sensor 130a: electrode 130b: gap
between electrodes 130c: position detecting signal output terminal
140: pressure sensitive sensor 160: piezoelectric element control
device 170: input/output device 200: space portion 201: LED 300:
video/music editing equipment 400: mobile phone
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